Automatic welding system

Abstract

The utility model relates to the technical field of welding, and discloses an automatic welding system, which comprises a transfer robot, a clamping device, a control device and a control device, one end of the transfer robot is provided with a clamp, the clamp has a clamping state and a releasing state, and in the clamping state, the transfer robot controls the clamp to clamp a structural member and can adjust the welding angle of the structural member; in the release state, the transfer robot controls the clamp to release the structural part; and the welding robot is suitable for automatically welding the structural part in the clamping state. The carrying robot is used for clamping the structural part, so that on one hand, the structural part can have more welding angles; and on the other hand, the automatic welding system can have the automatic feeding and discharging function.

Description

Technical Field

[0001] The utility model relates to the technical field of welding, in particular to an automatic welding system. Background Art

[0002] The structural welding system of existing operating machinery is usually composed of a welding robot and a welding positioner. Since the welding plate positioner usually has only one or two rotating axes, it cannot allow the structural parts to have more welding postures, resulting in the welding robot being unable to perform ship-shaped welding on all welds on the structural parts. Utility Model Content

[0003] In view of this, the utility model provides an automatic welding system to solve the problem that the structural component welding system of the existing operating machinery cannot perform high-quality welding on all welds on the structural component.

[0004] The utility model provides an automatic welding system, comprising:

[0005] A handling robot, one end of which is provided with a clamp, the clamp having a clamping state and a releasing state. In the clamping state, the handling robot controls the clamp to clamp the structural member and can adjust the welding angle of the structural member; in the releasing state, the handling robot controls the clamp to release the structural member;

[0006] The welding robot is suitable for automatically welding the structural parts in the clamping state.

[0007] Beneficial effects: The utility model adopts a handling robot to clamp the structural parts, so that the structural parts can have more welding angles, and then cooperate with the welding robot to improve the welding quality of the welding points of the structural parts. In addition, by changing the state of the clamp, the handling robot can have the function of automatic loading and unloading, thereby reducing the labor intensity of workers and speeding up the production rhythm.

[0008] In an optional embodiment, the clamp includes a base and a pair of slides arranged on the base, at least one of the slides is slidably connected to the base and a space suitable for clamping the structural member is formed between the pair of slides; the side of the base away from the slides is connected to the handling robot.

[0009] Beneficial effect: The utility model enables the handling robot to flexibly adjust the distance between a pair of slides as needed by slidingly connecting at least one slide plate to the base, thereby completing the clamping or releasing operation of structural parts of different sizes. In this way, the utilization rate of the handling robot can be increased, the flexibility of the automatic welding system can be improved, and the initial purchase cost of the equipment can be reduced.

[0010] In an optional embodiment, one of the base and the slide is provided with a slide rail, and the other is provided with a slider slidably connected to the slide rail.

[0011] Beneficial effect: The utility model can make the skateboard slide smoothly on the base by providing the slide rail and the slide block between the base and the skateboard, and at the same time simplify the connection structure between the base and the skateboard, thereby reducing the subsequent repair and maintenance costs.

[0012] In an optional embodiment, a driving member is provided at one end of the base, and the driving end of the driving member is connected to the slide plate slidably connected to the base, and the slide plate is suitable for sliding on the base under the drive of the driving member.

[0013] Beneficial effects: Compared with manual adjustment, the utility model drives the slide plate to slide on the base through the driving member, which can improve the smoothness of the slide plate sliding on the base, and can accurately control the start and stop positions of the slide plate on the base. In addition, by setting the driving member, it is convenient to integrate the driving member with the handling robot, so that the automation degree of the handling robot can be improved, the time occupied by the loading and unloading process can be reduced, and production efficiency can be improved.

[0014] In an optional embodiment, the driving member is a telescopic oil cylinder or a telescopic air cylinder.

[0015] Beneficial effect: The utility model can be automatically integrated with the handling robot to achieve precise control of the skateboard, whether the telescopic oil cylinder or the telescopic air cylinder is used as a driving part. In addition, the telescopic oil cylinder and the telescopic air cylinder are both commonly used standard parts, so the production cycle and preparation cost of the handling robot can be shortened.

[0016] In an optional embodiment, the driving member is a pneumatic motor or a servo motor, the driving shaft of the pneumatic motor or the servo motor is connected to a lead screw, the lead screw is passed through the base, and is connected to the slide plate through a sliding member sleeved on the lead screw.

[0017] Beneficial effects: Compared with telescopic oil cylinders or telescopic air cylinders, pneumatic motors or servo motors have faster response speeds, which can shorten the time required for the start and stop of the slide, thereby accelerating the production cycle. In addition, by using a lead screw and a sliding member sleeved on the lead screw, the rotational motion of the pneumatic motor or servo motor can be converted into linear motion, thereby driving the slide to slide on the base and completing the clamping or release operation of the structural member.

[0018] In an optional embodiment, a pair of the slides are both slidably connected to the base, the lead screw is a bidirectional lead screw, and two sliding members are sleeved on the bidirectional lead screw, and the two sliding members are respectively connected to one of the slides.

[0019] Beneficial effects: The utility model adopts a bidirectional lead screw, so that both slide plates can slide relative to the base, so that the clamp can complete the clamping or releasing operation faster, reducing the waiting time in the production process. In addition, when one of the sliding parts on the bidirectional lead screw fails, the clamp can still clamp or release the structural part under the action of the remaining sliding parts, which improves the fault tolerance of the handling robot and reduces the downtime for maintenance.

[0020] In an optional embodiment, a reduction motor and a transmission member are provided between the driving member and the lead screw, the driving end of the driving member is connected to the input end of the reduction motor, and the output end of the reduction motor is connected to the lead screw through the transmission member.

[0021] Beneficial effect: The utility model can convert the high-speed and low-torque output of the pneumatic motor or servo motor into a low-speed and high-torque output by arranging a reduction motor and a transmission part between the driving part and the screw, thereby being able to smoothly transmit the rotation of the pneumatic motor or servo motor to the screw, thereby ensuring the smoothness of the relative sliding of the slide plate and the base.

[0022] In an optional embodiment, a protective shell is provided on the peripheral side of the driving member.

[0023] Beneficial effect: The utility model provides a protective shell around the driving member, which can prevent external dust or particles from entering the interior of the driving member and reduce the risk of driving member failure; on the other hand, it can prevent workers from accidentally touching the driving member and improve work safety.

[0024] In an optional embodiment, the handling robot and the welding robot are four-axis industrial robots, five-axis industrial robots, six-axis industrial robots or seven-axis industrial robots.

[0025] Beneficial effects: The utility model uses a multi-axis industrial robot as a handling robot, which can, on the one hand, reduce dependence on workers and enable the handling robot to well complete the loading and unloading operations of structural parts; on the other hand, it can allow structural parts in a clamping state to have more welding postures, and then cooperate with a multi-axis welding robot to improve welding quality and ensure welding consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 This is a structural schematic diagram of an automatic welding system according to an embodiment of the utility model;

[0028] Figure 2 for Figure 1 A top view of the welding system shown;

[0029] Figure 3 The figure is a schematic structural diagram of a clamp according to an embodiment of the utility model.

[0030] Description of reference numerals:

[0031] 1. Handling robot; 101. Clamp; 1011. Base; 1012. Slide plate; 102. Driving member; 1021. Protective shell; 103. Screw; 104. Reducer motor; 105. Transmission member; 106. First mounting seat; 107. First robotic arm; 108. Second robotic arm; 2. Structural member; 3. Welding robot; 301. Second mounting seat; 302. Third robotic arm; 303. Fourth robotic arm; 304. Welding gun; 4. Welding machine. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0033] Aiming at the problem that the structural component welding system of the existing operating machinery cannot perform high-quality welding on all the welds on the structural component, the utility model provides an automatic welding system.

[0034] Combine the following Figures 1 to 3 , describing an embodiment of the utility model.

[0035] According to the embodiments of the present utility model, Figure 1 to Figure 2 As shown, an automatic welding system is provided, including: a handling robot 1 and a welding robot 3.

[0036] Specifically, a clamp 101 is provided at one end of the handling robot 1, and the clamp 101 has a clamping state and a releasing state. In the clamping state, the handling robot 1 controls the clamp 101 to clamp the structural member 2 and can adjust the welding angle of the structural member 2; in the releasing state, the handling robot 1 controls the clamp 101 to release the structural member 2; the welding robot 3 is suitable for automatically welding the structural member 2 in the clamping state. In this embodiment, by using the handling robot 1 to clamp the structural member 2, on the one hand, the structural member 2 can have more welding angles, and then cooperate with the welding robot 3, so as to improve the welding quality of the welding point of the structural member 2; on the other hand, it can also allow the automatic welding system to have the function of automatic loading and unloading, so that it can not only reduce the labor intensity of workers, but also speed up the production rhythm.

[0037] The handling robot 1 in this embodiment further includes a first mounting seat 106, a first mechanical arm 107, and a second mechanical arm 108. One end of the first mechanical arm 107 is rotatably connected to the first mounting seat 106, and the other end is rotatably connected to the second mechanical arm 108. The end of the second mechanical arm 108 away from the first mounting seat 106 is rotatably connected to the fixture 101. Such a configuration enables the handling robot 1 to have multiple degrees of freedom, thereby allowing the structural member 2 to have more welding postures.

[0038] The welding robot 3 in this embodiment includes a second mounting seat 301, a third mechanical arm 302, a fourth mechanical arm 303 and a welding gun 304. Among them, one end of the third mechanical arm 302 is rotatably connected to the second mounting seat 301, and the other end is rotatably connected to the fourth mechanical arm 303, and the end of the fourth mechanical arm 303 away from the mounting seat is rotatably connected to the welding gun 304. Such a configuration enables the welding robot 3 to have multiple degrees of freedom, so that the angle of the welding gun 304 can be well adapted to the welding posture of the structural member 2, thereby ensuring the welding quality of the structural member 2 by the welding robot 3. In addition, the automatic welding system of this embodiment also includes a welding machine 4 used in conjunction with the welding gun 304.

[0039] Since the structural parts 2 of the operating machinery are usually small-batch and multi-variety products, if the existing structural parts welding system of the operating machinery is used to produce the structural parts 2, it is necessary to prepare a variety of different types of welding positioners in advance, which will make the flexibility of the existing structural parts welding system of the operating machinery less flexible.

[0040] In order to solve the problem of poor flexibility of the structural member welding system of the above-mentioned existing operating machinery, in a specific embodiment, the fixture 101 includes a base 1011 and a pair of slides 1012 arranged on the base 1011, at least one slide 1012 is slidably connected to the base 1011 and a space suitable for clamping the structural member 2 is formed between the pair of slides 1012. It can be understood that compared with the structural member welding system of the existing operating machinery, the handling robot 1 in this embodiment can clamp or release structural members 2 of different sizes, thereby increasing the utilization rate of the handling robot 1, improving the flexibility of the automatic welding system, and reducing the initial purchase cost of the equipment. In addition, in order to allow the slide 1012 to better clamp different types of structural members 2, the fixture 101 can be detachably arranged on the handling robot 1 or the slide 1012 can be detachably arranged on the base 1011, so that not only can the shape and size of the slide 1012 be quickly adjusted, but also the cost of replacing the slide 1012 can be reduced.

[0041] Furthermore, connecting the side of the base 1011 away from the slide plate 1012 to the transport robot 1 can reduce the interference between the structural member 2 and other structures on the transport robot 1 when the transport robot 1 performs a clamping or releasing operation.

[0042] According to an embodiment of the utility model, one of the base 1011 and the slide plate 1012 is provided with a slide rail, and the other is provided with a slider slidably connected to the slide rail. In this embodiment, by providing the slide rail and the slider between the base 1011 and the slide plate 1012, the slide plate 1012 can slide smoothly on the base 1011, simplify the connection structure between the base 1011 and the slide plate 1012, and reduce the subsequent repair and maintenance costs.

[0043] It should be noted that, since at least one slide plate 1012 is slidably connected to the base 1011, the positions of the slide rail and the slider between the base 1011 and the slide plate 1012 in this embodiment can be in the following forms:

[0044] Example 1:

[0045] The two skateboards 1012 are both slidably connected to the base 1011, wherein a pair of sliders are respectively provided on the side of the two skateboards 1012 facing the base 1011, and a pair of relatively arranged slide rails are provided on the side of the base 1011 facing the skateboards 1012, and the slide rails extend along the sliding direction of the skateboards 1012, and the two skateboards 1012 are suitable for reciprocating sliding on the slide rails of the base 1011 through their own sliders.

[0046] Example 2:

[0047] One slide plate 1012 is slidably connected to the base 1011, and the other is fixedly connected to the base 1011, wherein the slide plate 1012 slidably connected to the base 1011 is provided with a slide rail extending along its sliding direction, and a slider slidably matched with the slide rail is provided on the side of the base 1011 facing the slide plate 1012, and the slide plate 1012 slidably connected to the base 1011 is suitable for reciprocating sliding on the slider of the base 1011 through its own slide rail.

[0048] Example 3:

[0049] One slide plate 1012 is slidably connected to the base 1011, and the other is fixedly connected to the base 1011, wherein the slide plate 1012 slidably connected to the base 1011 is provided with three spaced slide rails extending along its sliding direction, and a slide block slidably matched with the three slide rails is provided on the side of the base 1011 facing the slide plate 1012, and the slide plate 1012 slidably connected to the base 1011 is suitable for reciprocating sliding on the slide block of the base 1011 through its own slide rails.

[0050] It is understandable that the number of sliders and rails between the slide plate 1012 and the base 1011 can be adjusted accordingly as needed, and this application does not impose any specific restrictions on this. In addition, the arrangement of the rails and sliders between the slide plate 1012 and the base 1011 in this embodiment is not limited to the above three examples, as long as the relative sliding between the slide plate 1012 and the base 1011 can be achieved, and this application does not impose any specific restrictions on this.

[0051] It should be noted that, in order to control the sliding range of the slide plate 1012, a limit structure can be set at both ends of the slide rail. Further, in order to improve the automation level of the handling robot 1, the limit structure can be set as a limit switch (for example, a travel switch), and when the slide plate 1012 abuts against the limit switch, the information can be transmitted to the controller, and then the controller controls the handling robot 1 to stop working or controls the slide plate 1012 to slide in the opposite direction.

[0052] According to one embodiment of the utility model, Figure 3As shown, a driving member 102 is provided at one end of the base 1011, and the driving end of the driving member 102 is connected to a slide plate 1012 which is slidably connected to the base 1011, and the slide plate 1012 is suitable for sliding on the base 1011 under the drive of the driving member 102. Compared with manually adjusting the slide plate 1012 on the base 1011, the slide plate 1012 is driven by the driving member 102 to slide on the base 1011. On the one hand, the smoothness of the slide plate 1012 sliding on the base 1011 can be improved, and on the other hand, the start and stop positions of the slide plate 1012 on the base 1011 can be accurately controlled. In addition, by providing the driving member 102, it is convenient to integrate the driving member 102 with the handling robot 1, so that the automation degree of the handling robot 1 can be improved, the time occupied by the loading and unloading process can be reduced, and production efficiency can be improved.

[0053] According to one embodiment of the utility model, the driving member 102 is a telescopic oil cylinder or a telescopic air cylinder. It is understandable that whether the telescopic oil cylinder or the telescopic air cylinder is used as the driving member 102, it can be automatically integrated with the handling robot 1 to achieve precise control of the slide 1012. In addition, the telescopic oil cylinder and the telescopic air cylinder are both commonly used standard parts, so the production cycle and preparation cost of the handling robot 1 can be shortened. In a specific embodiment, the driving member 102 is a telescopic air cylinder. Compared with setting the telescopic oil cylinder as the driving member 102, the operation of the telescopic air cylinder is simpler and the subsequent maintenance cost is lower.

[0054] According to one embodiment of the utility model, Figure 3 As shown, the driving member 102 is a pneumatic motor or a servo motor, and the driving shaft of the pneumatic motor or the servo motor is connected to the lead screw 103, and the lead screw 103 is inserted into the base 1011 and connected to the slide plate 1012 through a sliding member sleeved on the lead screw 103. It can be understood that compared with the telescopic oil cylinder or telescopic air cylinder, the pneumatic motor or the servo motor has a faster response speed, thereby shortening the time required for the start and stop of the slide plate 1012, which is convenient for speeding up the production cycle. In addition, by using the lead screw 103 and the sliding member sleeved on the lead screw 103, the rotational motion of the pneumatic motor or the servo motor can be converted into linear motion, thereby driving the slide plate 1012 to slide on the base 1011 and completing the clamping or release operation of the structural member 2.

[0055] Taking the driving member 102 as a servo motor as an example, the process of driving the slide plate 1012 to slide on the base 1011 through the lead screw 103 is as follows:

[0056] The sliding member is connected to the lead screw 103 by threads, and then one slide plate 1012 is connected to the sliding member, and the other slide plate 1012 is fixedly connected to the base 1011, so that when the driving shaft of the servo motor drives the lead screw 103 to rotate clockwise, the slide plate 1012 connected to the sliding member will slide in a direction away from the other slide plate 1012 driven by the sliding member, thereby gradually increasing the gap between the two slide plates 1012 until the release operation of the structural member 2 is completed; conversely, when the driving shaft of the servo motor drives the lead screw 103 to rotate counterclockwise, the slide plate 1012 connected to the sliding member will slide in a direction close to the other slide plate 1012 driven by the sliding member, thereby gradually reducing the gap between the two slide plates 1012 until the clamping operation of the structural member 2 is completed. It can be understood that the clamp 101 in this embodiment can also perform a clamping operation when the lead screw 103 rotates counterclockwise, and perform a release operation when the lead screw 103 rotates clockwise.

[0057] In addition, in order to further improve production efficiency, in a specific embodiment, the lead screw 103 is set as a bidirectional lead screw, and two sliding members are set on the bidirectional lead screw, and then the two sliding members are respectively connected to a slide plate 1012, so that the two slide plates 1012 can slide relative to the base 1011, so that the clamp 101 can complete the clamping or releasing operation faster, reducing the waiting time in the production process. In addition, when one of the sliding members on the bidirectional lead screw fails, the clamp 101 can still clamp or release the structural member 2 under the action of the remaining sliding members, thereby improving the fault tolerance of the handling robot 1 and reducing the downtime for maintenance.

[0058] It should be noted that the sliding member in this embodiment can be a nut. In one example, the nut is a hexagonal nut, so that the contact area between the sliding member and the slide plate 1012 can be increased, thereby ensuring the connection strength between the two.

[0059] According to one embodiment of the utility model, Figure 3As shown, a reduction motor 104 and a transmission member 105 are provided between the driving member 102 and the lead screw 103, the driving end of the driving member 102 is connected to the input end of the reduction motor 104, and the output end of the reduction motor 104 is connected to the lead screw 103 through the transmission member 105. By arranging the reduction motor 104 and the transmission member 105 between the driving member 102 and the lead screw 103, the high-speed low-torque output of the pneumatic motor or servo motor of the motor can be converted into a low-speed high-torque output, so that the rotation of the pneumatic motor or servo motor can be smoothly transmitted to the lead screw 103, ensuring the smoothness of the relative sliding of the slide plate 1012 and the base 1011. It should be noted that the transmission member in the present embodiment can be a coupling. Through the coupling, on the one hand, the torque of the reduction motor can be effectively transmitted to the lead screw, and on the other hand, the deviation caused by manufacturing error or thermal expansion between the lead screw and the output end of the reduction motor 104 can be compensated.

[0060] According to one embodiment of the utility model, Figure 2 and Figure 3 As shown, a protective shell 1021 is provided around the driving member 102. By providing the protective shell 1021 around the driving member 102, on the one hand, it can prevent external dust or particles from entering the interior of the driving member 102, thereby reducing the risk of failure of the driving member 102; on the other hand, it can prevent workers from accidentally touching the driving member 102, thereby improving work safety.

[0061] According to an embodiment of the utility model, the handling robot 1 and the welding robot 3 are four-axis industrial robots, five-axis industrial robots, six-axis industrial robots or seven-axis industrial robots. By selecting a multi-axis industrial robot as the handling robot 1, on the one hand, the dependence on the staff can be reduced, so that the handling robot 1 can well complete the loading and unloading operations of the structural member 2; on the other hand, the structural member 2 in the clamping state can have more welding postures, and then cooperate with the multi-axis welding robot 3 to improve the welding quality and ensure the consistency of welding.

[0062] It should be noted that whether it is a four-axis industrial robot, a five-axis industrial robot, a six-axis industrial robot or a seven-axis industrial robot, existing products can be directly selected, so the handling robot 1 and the welding robot 3 do not need to be customized separately, thereby shortening the production cycle of the handling robot 1 and the welding robot 3 and improving the flexibility of the automatic welding system. In addition, with the advancement of intelligence and automation, the production cost of the handling robot 1 and the welding robot 3 will increase, so compared with the existing welding positioner, the automatic welding system provided by the utility model has good feasibility and promotion.

[0063] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An automatic welding system, characterized in that: include: A handling robot (1) is provided with a clamp (101) at one end, the clamp (101) having a clamping state and a releasing state. In the clamping state, the handling robot (1) controls the clamp (101) to clamp a structural component (2) and is capable of adjusting a welding angle of the structural component (2); in the releasing state, the handling robot (1) controls the clamp (101) to release the structural component (2); A welding robot (3) is suitable for automatically welding the structural member (2) in the clamping state.

2. The automatic welding system according to claim 1, characterized in that: The clamp (101) comprises a base (1011) and a pair of slides (1012) arranged on the base (1011), at least one of the slides (1012) is slidably connected to the base (1011) and a space suitable for clamping the structural member (2) is formed between the pair of slides (1012); the side of the base (1011) away from the slides (1012) is connected to the handling robot (1).

3. The automatic welding system according to claim 2, characterized in that: One of the base (1011) and the slide plate (1012) is provided with a slide rail, and the other is provided with a slide block slidably connected to the slide rail.

4. The automatic welding system according to claim 3, characterized in that: A driving member (102) is provided at one end of the base (1011); the driving end of the driving member (102) is connected to the slide plate (1012) which is slidably connected to the base (1011); and the slide plate (1012) is suitable for sliding on the base (1011) under the drive of the driving member (102).

5. The automatic welding system according to claim 4, characterized in that: The driving member (102) is a telescopic oil cylinder or a telescopic air cylinder.

6. The automatic welding system according to claim 4, characterized in that: The driving member (102) is a pneumatic motor or a servo motor, the driving shaft of the pneumatic motor or the servo motor is connected to a lead screw (103), the lead screw (103) is inserted into the base (1011), and is connected to the slide plate (1012) via a sliding member sleeved on the lead screw (103).

7. The automatic welding system according to claim 6, characterized in that: A pair of slide plates (1012) are both slidably connected to the base (1011), the lead screw (103) is a bidirectional lead screw, and two sliding members are sleeved on the bidirectional lead screw, and the two sliding members are respectively connected to one slide plate (1012).

8. The automatic welding system according to claim 6 or 7, characterized in that: A reduction motor (104) and a transmission member (105) are provided between the driving member (102) and the lead screw (103); the driving end of the driving member (102) is connected to the input end of the reduction motor (104); and the output end of the reduction motor (104) is connected to the lead screw (103) via the transmission member (105).

9. The automatic welding system according to any one of claims 4 to 7, characterized in that: A protective shell (1021) is provided on the peripheral side of the driving member (102).

10. The automatic welding system according to any one of claims 1 to 7, characterized in that: The handling robot (1) and the welding robot (3) are four-axis industrial robots, five-axis industrial robots, six-axis industrial robots or seven-axis industrial robots.

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